JPS62140117A - Drive control method for self-traveling truck - Google Patents
Drive control method for self-traveling truckInfo
- Publication number
- JPS62140117A JPS62140117A JP60282239A JP28223985A JPS62140117A JP S62140117 A JPS62140117 A JP S62140117A JP 60282239 A JP60282239 A JP 60282239A JP 28223985 A JP28223985 A JP 28223985A JP S62140117 A JPS62140117 A JP S62140117A
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- Prior art keywords
- speed
- value
- inter
- truck
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 101100506443 Danio rerio helt gene Proteins 0.000 description 1
- 101100506445 Mus musculus Helt gene Proteins 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、一定径路を走行する自走台車を、その走行速
度と前方台車との車間距離とを任意に設定した値に維持
せしめながら走行させるための制御方法に関するもので
ある。[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a self-propelled bogie that travels on a fixed path while maintaining its traveling speed and inter-vehicle distance to the bogie in front at arbitrarily set values. The present invention relates to a control method for making this happen.
（従来の技術及びその問題点）
組立ラインに於けるワークの搬送は、その日の生産計画
量等に応じて設定されたワーク搬送速度と、取り扱いワ
ークの長さ等に応じて設定されたワーク間隔とに基づい
て行われなければならないので、組立ラインに於けるワ
ーク崖送手段としては、搬送速度とワーク間隔とを任意
に変更することが出来るタイプの搬送装置が必要である
。(Prior art and its problems) The workpieces on the assembly line are transported at a workpiece transport speed set according to the planned production volume for the day, and at workpiece intervals set according to the length of the workpieces to be handled. Therefore, as a means for transporting workpieces on an assembly line, a type of transporting device that can arbitrarily change the transporting speed and work interval is required.
従来は、この種の搬送装置として例えばスラットコンベ
ヤ、ヘルトコンヘヤ、トロリーコンヘヤ等を使用してい
たが、最近では、搬送ラインのレイアウト変更やライン
長さの増減が容易であるばかりでなくワークの積み降ろ
しに好都合でストレージも可能な軌道式自走台車を利用
することが考えられている。しかし従来の軌道式自走台
車は、発進後の自動増速及び停止前の自動減速は出来て
も、定常走行速度は一定不変のものであった。又、前方
台車との車間距離の制御に関しても、台車どうしの追突
や台車から前後に突出するワークが互いに衝突するのを
防止するために、前方台車に対し一定距離以内に接近し
たときに自動停止させるような制御が行われているに過
ぎず、外部から台車に与えた任意の車間距離を保たせな
がら走行させることが出来るものではなかった。In the past, slat conveyors, helt conveyors, trolley conveyors, etc. were used as this type of conveyor, but recently it has become easier to change the layout of the conveyor line and increase or decrease the line length, and it is also easier to stack workpieces. The idea is to use self-propelled track-type trolleys that are convenient for unloading and can also be stored. However, although conventional track-type self-propelled carts can automatically increase speed after starting and automatically decelerate before stopping, the steady running speed remains constant. In addition, regarding the control of the distance between the front truck and the front truck, in order to prevent the trucks from colliding with each other and the workpieces protruding from the truck back and forth colliding with each other, the system automatically stops when the vehicle approaches the front truck within a certain distance. However, it was not possible to make the bogie travel while maintaining an arbitrary inter-vehicle distance given to the bogie from the outside.
このような理由から従来の軌道式自走台車は、搬送速度
とワーク間隔とを任意に変更することが出来る搬送装置
として組立ラインに活用することが出来なかった。For these reasons, conventional track-type self-propelled carts cannot be used on assembly lines as transport devices that can arbitrarily change the transport speed and work interval.
（問題点を解決するための手段及び作用）本発明は上記
のような従来の問題点を解決し得る自走台車の走行制御
方法を提案するものであって、その特徴は、一定径路上
を走行する自走台車に、外部からの速度指令信号及び車
間距離指令信号を受信する受信手段、現在速度検出手段
、及び前方台車との車間距離検出手段を設け、前記車間
距離指令信号を介して外部から与えられた車間距離設定
値と前記車間距離検出手段により検出された車間距離現
在値との比較により速度補正値を演算させ、前記速度指
令信号を介して外部から与えられた速度設定値を前記速
度補正値により補正して速度目標値を演算させ、この速
度目標値と前記現在速度検出手段により検出された速度
現在値とが一致するように走行モーターをフィードバッ
ク制御する点にある。(Means and effects for solving the problems) The present invention proposes a traveling control method for a self-propelled trolley that can solve the conventional problems as described above. A traveling self-propelled bogie is provided with a receiving means for receiving a speed command signal and an inter-vehicle distance command signal from the outside, a current speed detecting means, and an inter-vehicle distance detecting means with respect to the preceding bogie. A speed correction value is calculated by comparing the set value of the following distance given by the following distance with the current value of the following distance detected by the following distance detecting means, and the set value of the set speed given from the outside via the speed command signal is A speed target value is calculated by correcting it using a speed correction value, and the traveling motor is feedback-controlled so that the speed target value matches the current speed value detected by the current speed detecting means.
このような本発明の制御方法に於いては、走行速度と車
間距離とを状況に合わせて任意に設定し、これを速度指
令信号及び車間距離指令信号の形で前記各受信手段を介
して自走台車に与えておくことにより、当該自走台車を
設定速度で走行させると同時に、実際の車間距離が設定
された車間距離と異なっているときには、実際の車間距
離が設定された車間距離と等しくなるように走行速度を
自動補正させ、以て走行速度と車間距離とを設定速りに
維持させながら自走台車を走行させることが出来る。In such a control method of the present invention, the traveling speed and inter-vehicle distance are arbitrarily set according to the situation, and these are automatically transmitted via the respective receiving means in the form of a speed command signal and an inter-vehicle distance command signal. By setting this to the running bogie, the self-propelled bogie can run at the set speed, and at the same time, when the actual following distance is different from the set following distance, the actual following distance is equal to the set following distance. The traveling speed is automatically corrected so that the self-propelled trolley can travel while maintaining the traveling speed and inter-vehicle distance at the set speed.
（実施例）
以下に本発明の一実施例を添付の例示図に基づいて説明
する。(Example) An example of the present invention will be described below based on the attached illustrative drawings.
第１図に於いて、１は自走台車であって、ガイドレール
２とこれに係合する車輪３とによって一定経路を走行す
る。４は台車走行経路にそって敷設されたランクギヤ５
と咬合する走行駆動ギヤであって、モーター６に連動連
結されている。７は前記ラックギヤ５と連動連結するパ
ルスエンコーダーである。８は台車走行経路にそって敷
設された給電線であって、自走台車１の集電子９を介し
て前記モーター６に電力を供給する。走行駆動ギヤ４と
ラックギヤ５とを使用する代わりに、前記車輪３の少な
くとも一つをモーター６で駆動するようにしても良い。In FIG. 1, reference numeral 1 denotes a self-propelled trolley, which travels along a fixed route by means of guide rails 2 and wheels 3 that engage with the guide rails. 4 is a rank gear 5 laid along the bogie running route
It is a traveling drive gear that meshes with the motor 6 and is interlocked with the motor 6. 7 is a pulse encoder operatively connected to the rack gear 5. Reference numeral 8 denotes a power supply line laid along the traveling route of the vehicle, which supplies power to the motor 6 via the collector 9 of the self-propelled vehicle 1. Instead of using the traveling drive gear 4 and the rack gear 5, at least one of the wheels 3 may be driven by a motor 6.
１０は台車走行制御区間に於いて台車走行経路にそって
敷設された信号線であって、自走台車１の集電子１１を
介して当該自走台車１に速度指令信号を与える。１２は
自走台車１の前端に付設された光電式距離センサーであ
り、１３は自走台車１の後端に取り付けられた反射板で
ある。１４は自走台車１に取り付けられた車間距離指令
信号受信手段であって、台車走行制御区間の起点又はそ
の手前の一定位胃に前記受信手段１４に対応するように
設置された車間距離指令信号発信手段１５から車間距離
指令信号１５ａを受信し、２進数値化された車間距離設
定値１４ａを、次に新しい車間距離指令信号１５ａを受
信するまでｍ続的に出力する。Reference numeral 10 denotes a signal line laid along the bogie traveling route in the bogie running control section, and provides a speed command signal to the self-propelled bogie 1 via the collector 11 of the self-propelled bogie 1. 12 is a photoelectric distance sensor attached to the front end of the self-propelled vehicle 1, and 13 is a reflection plate attached to the rear end of the self-propelled vehicle 1. Reference numeral 14 denotes an inter-vehicle distance command signal receiving means attached to the self-propelled bogie 1, and the inter-vehicle distance command signal receiving means is installed at a certain position at or before the starting point of the bogie running control section so as to correspond to the receiving means 14. The inter-vehicle distance command signal 15a is received from the transmitting means 15, and the inter-vehicle distance setting value 14a converted into a binary value is continuously outputted m times until the next new inter-vehicle distance command signal 15a is received.
前記光電式距離センサー１２は、前方の自走台車１の反
射板１３からの反射光線を受信することにより当該反射
板１３までの距離、即ち前方台車との車間距離りに相当
する出力＋２ａを得るものであって、当１亥出力１２ａ
は、第２図に示すように変換部１６に於いて２進数値化
された車間距離現在値１６ａに変換される。比較部１７
は、前記車間距離指令信号受信手段１４から出力される
車間距離設定値１４ａと前記車間距離現在値１６ａとを
比較し、速度補正値１７ａを出力する。The photoelectric distance sensor 12 receives the reflected light from the reflection plate 13 of the self-propelled truck 1 in front, and thereby obtains an output +2a corresponding to the distance to the reflection plate 13, that is, the distance between the vehicles and the front truck. The current output is 12a.
is converted into a current inter-vehicle distance value 16a converted into a binary value in a converter 16 as shown in FIG. Comparison section 17
compares the inter-vehicle distance set value 14a outputted from the inter-vehicle distance command signal receiving means 14 with the present inter-vehicle distance value 16a, and outputs a speed correction value 17a.
第２図に示すように前記信号８５１０には変換部１８に
よって直列パルス信号に変換された速度指令信号１８ａ
が供給されており、前記集電子１１によって受信された
当該速度指令信号（直列パルス信号）１８ａは変換部１
９により２進数値化された速度設定値１９ａに変換され
る。速度設定値補正部２０は前記比較部１７からの速度
補正値１７ａによって前記速度設定値１９ａを補正し、
速度目標値２０ａを出力する。As shown in FIG. 2, the signal 8510 includes a speed command signal 18a converted into a serial pulse signal by the converter 18.
is supplied, and the speed command signal (serial pulse signal) 18a received by the collector 11 is sent to the converter 1.
9, the speed setting value 19a is converted into a binary value. The speed setting value correction section 20 corrects the speed setting value 19a using the speed correction value 17a from the comparison section 17,
A speed target value 20a is output.
前記パルスエンコーダー７の出カフａは変換部２１によ
って速度現在値２１ａに変換され、比較部２２に於いて
前記速度目標値２０ａと比較される。この比較部２２は
、前記速度目標値２０ａと速度現在値２１ａとの差に応
じて当該速度目標値２０ａを補正した速度制御値２２ａ
を出力するものであって、この速度制御値２２ａによっ
て前記モーター６の回転速度制御装置２３が制御され、
速度現在値２１ａが速度目標値２０ａに等しくなるよう
に前記モーター６の回転速度が自動調整される。即ち、
所謂フィードバック制御が行われる上記の構成によれば
、同−走行経路上を走行する各自走台車１が台車走行制
御区間の起点又はその手前一定位置を通過するとき、車
間距離指令信号受信手段１４が発信手段１５からの車間
距離指令信号１５ａを受信し、次段の比較部１７へ車間
距離設定値１４ａを送る。そして当該自走台車１が台車
走行制御区間に進入すると、集電子１１が信号線１０に
供給されている速度指令信号１８ａを受信し、変換部１
９から速度設定値１９ａが出力される。The output cuff a of the pulse encoder 7 is converted into a current speed value 21a by a conversion section 21, and compared with the speed target value 20a in a comparison section 22. This comparison unit 22 generates a speed control value 22a that corrects the speed target value 20a according to the difference between the speed target value 20a and the speed current value 21a.
The rotational speed control device 23 of the motor 6 is controlled by this speed control value 22a,
The rotation speed of the motor 6 is automatically adjusted so that the current speed value 21a becomes equal to the target speed value 20a. That is,
According to the above configuration in which so-called feedback control is performed, when each self-propelled bogie 1 traveling on the same traveling route passes the starting point of the bogie running control section or a certain position before it, the inter-vehicle distance command signal receiving means 14 It receives the inter-vehicle distance command signal 15a from the transmitting means 15, and sends the inter-vehicle distance set value 14a to the next-stage comparison section 17. When the self-propelled truck 1 enters the truck travel control section, the collector 11 receives the speed command signal 18a supplied to the signal line 10, and the converter 1
9 outputs a speed setting value 19a.
一方、各自走台車１の光学式距離センサー１２と次段の
変換部１６との働きで車間距離現在値１６ａが前記比較
部１７に送られており、この比較部１７に於いて前記車
間距離設定値１４ａと前記車間距離現在値１６ａとが比
較され、その偏差に相当する速度補正値１７ａが次段の
速度設定値補正部２０に送られる。この速度補正値ｔ７
ａは、速度設定値補正部２０に於いて前記速度設定値１
９ａに加減算され、速度目標値２０ａが出力される。こ
の速度目標値２０ａは、車間距離現在値１６ａが車間距
離設定値１４ａより大きい場合は速度設定値１９ａより
大きくなり、逆に車間距離現在値１６ａが車間距離設定
値１４ａより小さい場合は速度設定値１９ａより小さく
なるように補正される。そしてその補正量は、前記車間
距離現在値１６ａと車間距離設定値１４ａとの偏差に比
例する。On the other hand, the current value 16a of the inter-vehicle distance is sent to the comparison section 17 by the optical distance sensor 12 of each self-propelled trolley 1 and the conversion section 16 at the next stage, and the comparison section 17 sets the inter-vehicle distance. The value 14a and the current inter-vehicle distance value 16a are compared, and a speed correction value 17a corresponding to the deviation is sent to the speed setting value correction section 20 at the next stage. This speed correction value t7
a is the speed setting value 1 in the speed setting value correction section 20.
9a, and a speed target value 20a is output. This speed target value 20a becomes larger than the speed setting value 19a when the current inter-vehicle distance value 16a is larger than the inter-vehicle distance setting value 14a, and conversely, when the inter-vehicle distance current value 16a is smaller than the inter-vehicle distance setting value 14a, the speed setting value It is corrected to be smaller than 19a. The amount of correction is proportional to the deviation between the current inter-vehicle distance value 16a and the set inter-vehicle distance value 14a.
自走台車１の走行速度、即ちモーター６の回転速度は、
前記のように速度現在値２１ａが速度目標値２０ａに等
しくなるようにフィードバック制御されるので、自走台
車１は、前方台車との車間距離りが車間距離指令信号１
５ａにより与えられた設定車間距離よりも大きい場合は
速度指令信号＋８ａにより与えられた設定速度よりも高
速で走行し、前記車間距ｊ！ＩＬが前記設定車間距離に
近づ（に従って減速され、車間距ＭＬが前記設定車間距
離に等しくなったとき前記設定速度で走行することにな
る。又、前方台車との車間距離りが前記設定車間距離よ
りも小さい場合は前記設定速度よりも低速で走行し、前
記車間距離りが前記設定車間距離に近づくに従って増速
され、車間距＃Ｌが前記設定車間距離に等しくなったと
き前記設定速度で走行することになる。このような制御
により同一の台車走行制御区間上にある各自走台車１は
、設定された速度と設定された車間距離を自動的に維持
しながら走行することになる。The traveling speed of the self-propelled trolley 1, that is, the rotation speed of the motor 6, is
As described above, since the current speed value 21a is feedback-controlled to be equal to the target speed value 20a, the self-propelled bogie 1 is able to maintain the following distance from the front bogie according to the following distance command signal 1.
If it is larger than the set inter-vehicle distance given by 5a, the vehicle travels at a higher speed than the set speed given by speed command signal +8a, and the above-mentioned inter-vehicle distance j! When IL approaches the set inter-vehicle distance, the vehicle is decelerated accordingly, and when the inter-vehicle distance ML becomes equal to the set inter-vehicle distance, the vehicle will travel at the set speed. Also, the inter-vehicle distance with the front bogie is equal to the set inter-vehicle distance. If the distance is smaller than the set distance, the vehicle travels at a slower speed than the set speed, and as the following distance approaches the set following distance, the speed is increased, and when the following distance #L becomes equal to the set following distance, the vehicle travels at the set speed. Through such control, each self-propelled bogie 1 on the same bogie running control section runs while automatically maintaining the set speed and the set inter-vehicle distance.
台車走行制御区間上を一定の車間距離を保ちながら走行
する複数台の自走台車１の内、先頭の自走台車１は車間
距離現在値１６ａが無限大又はゼロになるので、正常な
制御を行うことが出来ない、従って台車走行制御区間の
起点又はその手前適当位置で、先頭になる自走台車１に
先頭台車であることの信号を与えたり、先頭になる自走
台車１には車間距離指令信号１５ａを与えないで車間距
離設定値１４ａを持たない台車は先頭台車であると判断
させ、或いは車間距離検出手段が前方台車との車間距離
を検出しない状態（車間距離現在値１６ａが無限大又は
ゼロになる状態）を以て先頭台車であることを判断させ
るか、若しくは別に付加したセンサーにより前方台車の
存無を検出させて先頭台車であることを判断させ、先頭
台車となる自走台車１は速度設定値補正部２０の機能を
無くして常に速度目標値２０ａを速度設定値１９ａと等
しくし、以て常に設定速度で走行させるようにしなけれ
ばならない。Among the plurality of self-propelled bogies 1 that travel on the bogie running control section while maintaining a constant inter-vehicle distance, the first self-propelled bogie 1 has a current inter-vehicle distance value 16a of infinity or zero, so it cannot be controlled normally. Therefore, at the starting point of the bogie running control section or at an appropriate position before it, a signal indicating that it is the leading bogie is given to the leading self-propelled bogie 1, and a signal indicating the inter-vehicle distance is given to the leading self-propelled bogie 1. If the command signal 15a is not given, the bogie that does not have the set value 14a for the inter-vehicle distance is determined to be the leading bogie, or the inter-vehicle distance detection means does not detect the inter-vehicle distance to the front bogie (the current inter-vehicle distance value 16a is infinite). The self-propelled bogie 1, which will be the leading bogie, is determined to be the leading bogie by detecting the presence or absence of the preceding bogie by using a separately added sensor. It is necessary to eliminate the function of the speed set value correction section 20 and always make the speed target value 20a equal to the speed set value 19a, so that the vehicle is always driven at the set speed.
尚、上記実施例では、車間距離検出手段は前記光電式距
離センサー１２、反射板１３、及び変換部１６によって
構成し、速度指令信号受信手段は前記集電子１１及び変
換部１９によって構成し、更に現在速度検出手段は前記
パルスエンコーダー７及び変換部２１によって構成した
が、これら各手段は実施例のものに限定されない。又、
車間距離指令信号は台車走行制御区間の起点又はその手
前の一定位置に於いて発信手段１５により自走台車１の
受信手段１４に与えるようにしたが、上記実施例の速度
指令信号のように台車走行制御区間の全域に於いて連続
的に自走台車１に与えるようにしても良いし、逆に速度
指令信号を上記実施例の車間距離指令信号のように台車
走行制御区間の起点又はその手前の一定位置に於いて自
走台車１に与えるようにしても良い。In the above embodiment, the inter-vehicle distance detection means is constituted by the photoelectric distance sensor 12, the reflector 13, and the converter 16, the speed command signal receiving means is constituted by the collector 11 and the converter 19, and Although the current speed detection means is constituted by the pulse encoder 7 and the conversion section 21, these means are not limited to those in the embodiment. or,
The inter-vehicle distance command signal is given to the receiving means 14 of the self-propelled bogie 1 by the transmitting means 15 at the starting point of the bogie running control section or at a fixed position before the starting point of the bogie running control section. The speed command signal may be continuously applied to the self-propelled bogie 1 throughout the travel control section, or conversely, the speed command signal may be applied to the starting point of the bogie travel control section or just before it, like the inter-vehicle distance command signal in the above embodiment. It may also be applied to the self-propelled trolley 1 at a certain position.
又、本発明の制御方法は自走台車１に搭載したマイクロ
コンピュータ−を使用するプログラムＩＩ御により実施
することが出来る。Further, the control method of the present invention can be implemented by program II control using a microcomputer mounted on the self-propelled trolley 1.
（発明の効果）
以上のように本発明の自走台車走行制御方法によれば、
自走台車の走行速度と前方台車との車間距離を任意に設
定することが出来、この設定速度と設定車間距離とを維
持させながら自走台車を自動走行させることが出来る。(Effects of the Invention) As described above, according to the self-propelled trolley travel control method of the present invention,
The running speed of the self-propelled truck and the distance between the vehicles in front can be arbitrarily set, and the self-propelled truck can be automatically run while maintaining the set speed and the set inter-vehicle distance.
従って本発明方法を利用することにより、搬送手段とし
て他の一般的なコンベヤと比較してメリットの大きい自
走台車を組立ラインに於ける搬送手段として活用し、ワ
ークを生産計画に適応した速度とピンチで搬送すること
が出来る。Therefore, by using the method of the present invention, a self-propelled cart, which has a large advantage as a conveyance means compared to other general conveyors, can be used as a conveyance means in an assembly line, and workpieces can be moved at a speed that suits the production plan. Can be transported in a pinch.
第１図は自走台車の構成を示す概略平面図、第２図は制
御系を説明するブロック線図である。
１・・・自走台車、４・・・走行駆動ギヤ、５・・・ラ
ックギヤ、６・・・モーター、７・・・パルスエンコー
ター、８・・・給電線、９．１１・・・集電子、１０・
・・速度指令信号伝送用信号線、１２・・・光学的距離
センサー、１３・・・反射板、１４・・・車間距離指令
信号受信手段、１４ａ・・・車間距離設定値、１５・・
・車間距離指令信号発信手段、１５ａ・・・車間距離指
令信号、１６．１８．１９．２１・・・変換部、１６ａ
・・・車間距離現在値、１７．２２・・・比較部、１７
ａ・・・速度補正値、＋８ａ・・・速度指令信号、＋９
ａ・・・速度設定値、２０・・・速度設定値補正部、２
０ａ・・・速度目標値、２１ａ・・・速度現在値、２２
ａ・・・速度制御値、２３・・・モーター回転速度制御
装置。
第１図FIG. 1 is a schematic plan view showing the configuration of the self-propelled trolley, and FIG. 2 is a block diagram illustrating the control system. DESCRIPTION OF SYMBOLS 1...Self-propelled trolley, 4...Traveling drive gear, 5...Rack gear, 6...Motor, 7...Pulse encoder, 8...Power supply line, 9.11...Collection electronic, 10・
...Signal line for speed command signal transmission, 12...Optical distance sensor, 13...Reflector, 14...Following distance command signal receiving means, 14a...Following distance set value, 15...
・Following distance command signal transmitting means, 15a...Following distance command signal, 16.18.19.21...Conversion unit, 16a
... Current value of inter-vehicle distance, 17.22 ... Comparison section, 17
a...Speed correction value, +8a...Speed command signal, +9
a...Speed set value, 20...Speed set value correction section, 2
0a...Speed target value, 21a...Speed current value, 22
a...Speed control value, 23...Motor rotation speed control device. Figure 1
Claims (1)
信号及び車間距離指令信号を受信する受信手段、現在速
度検出手段、及び前方台車との車間距離検出手段を設け
、前記車間距離指令信号を介して外部から与えられた車
間距離設定値と前記車間距離検出手段により検出された
車間距離現在値との比較により速度補正値を演算させ、
前記速度指令信号を介して外部から与えられた速度設定
値を前記速度補正値により補正して速度目標値を演算さ
せ、この速度目標値と前記現在速度検出手段により検出
された速度現在値とが一致するように走行モーターをフ
ィードバック制御することを特徴とする自走台車の走行
制御方法。A self-propelled bogie traveling on a fixed route is provided with a receiving means for receiving a speed command signal and a following distance command signal from the outside, a current speed detecting means, and a following distance detecting means with respect to the preceding bogie, and the said following distance command signal is provided. Calculates a speed correction value by comparing a set value of the inter-vehicle distance given from the outside via the inter-vehicle distance with the current value of the inter-vehicle distance detected by the inter-vehicle distance detection means;
A speed target value is calculated by correcting a speed set value given from the outside via the speed command signal by the speed correction value, and this speed target value and the current speed value detected by the current speed detecting means are A travel control method for a self-propelled trolley, characterized in that a travel motor is feedback-controlled to match.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60282239A JPS62140117A (en) | 1985-12-16 | 1985-12-16 | Drive control method for self-traveling truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60282239A JPS62140117A (en) | 1985-12-16 | 1985-12-16 | Drive control method for self-traveling truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62140117A true JPS62140117A (en) | 1987-06-23 |
Family
ID=17649866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60282239A Pending JPS62140117A (en) | 1985-12-16 | 1985-12-16 | Drive control method for self-traveling truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62140117A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01282617A (en) * | 1988-05-10 | 1989-11-14 | Toyota Autom Loom Works Ltd | Control device for travelling at prescribed interval for unmanned vehicle in plural unmanned vehicle system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5653959A (en) * | 1979-10-11 | 1981-05-13 | Omron Tateisi Electronics Co | Controller for travelling of fixed distance between car |
| JPS5734205A (en) * | 1980-08-04 | 1982-02-24 | Kensetsusho Doboku Kenkyu Shocho | Control system of constant distance between cars |
-
1985
- 1985-12-16 JP JP60282239A patent/JPS62140117A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5653959A (en) * | 1979-10-11 | 1981-05-13 | Omron Tateisi Electronics Co | Controller for travelling of fixed distance between car |
| JPS5734205A (en) * | 1980-08-04 | 1982-02-24 | Kensetsusho Doboku Kenkyu Shocho | Control system of constant distance between cars |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01282617A (en) * | 1988-05-10 | 1989-11-14 | Toyota Autom Loom Works Ltd | Control device for travelling at prescribed interval for unmanned vehicle in plural unmanned vehicle system |
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